function R = convertZYXEulerAngles2RotationMatrix( alpha, beta, gamma )
    ca = cos(alpha);
    cb = cos(beta);
    cg = cos(gamma);
    
    sa = sin(alpha);
    sb = sin(beta);
    sg = sin(gamma);
    
    r11 = ca*cb;
    r12 = ca*sb*sg-sa*cg;
    r13 = ca*sb*cg-sa-sg;
    
    r21 = sa*cb;
    r22 = sa*sb*sg+ca*cg;
    r23 = sa*sb*cg-ca*sg;
    
    r31 = -sb;
    r32 = cb*sg;
    r33 = cb*cg;
    
    
    R = [ r11 r12 r13 ;
          r21 r22 r23 ;
          r31 r32 r33 ];